The City of Madison has a website https://www.cityofmadison.com/
this site will provide you with the address, and prices of the different parking garages in Madison.
Venues such as: Camp Randall, Kohl Center, Orpheum, and Overture do not have free parking. There is limited street parking in Madison.
Venues such as: Alliant Energy Center complex, Barrymore, and Kalahari have large parking lots with free parking.
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